Structural synthesis of kinematic chains is one of the most creative and important stages in mechanical design. It provides a number of optional structure types when new mechanisms are created. In this paper, a new algorithm for structural synthesis of planar simple and multiple joint kinematic chains has been proposed by subsequently adding single-kinematic-chain method. By this algorithm, the structure of multiple joint kinematic chains with specified degree-of-freedom, the number of links, and total multiple joint factors P can be synthesized in batch. When P = 0, the structure of simple joint kinematic chains with specified degree-of-freedom, and the number of links can also be generated. Finally, structural synthesis examples of planar simple and multiple joint kinematic chains have been studied to show effectiveness of this algorithm.